text: #ifndef STELLA_VSLAM_SOLVE_UTIL_H
  #define STELLA_VSLAM_SOLVE_UTIL_H
  
  #include "stella_vslam/type.h"
  
  #include <vector>
  
  #include <opencv2/core/types.hpp>
  
  namespace stella_vslam {
  namespace solve {
  
  void normalize(const std::vector<cv::KeyPoint>& keypts, std::vector<cv::Point2f>& normalized_pts, Mat33_t& transform);
  
  } // namespace solve
  } // namespace stella_vslam
  
  #endif // STELLA_VSLAM_SOLVE_UTIL_H
  